Path planning for ground target reconnaissance based on improved Astar algorithm
Guozheng Fan, Xiaojun Xing, Yichen Han, Mengping Chen, Haoran Gui · 2021 China Automation Congress (CAC) · 2021
Aiming at solving the problems of complex and huge calculation and poor threats avoidance capabilities of UAVs carrying airborne reconnaissance equipment in ground targets tracking path planning, an improved Astar algorithm is proposed. Firstly, the improved Astar algorithm is combined with the track point extension method, and its evaluation function is improved based on traditional algorithms, so as to improve the real-time performance of the algorithm and reduce the amount of information stored in the algorithm. Secondly, add the threat cost to the heuristic function and assign weights. The simulation results show that the calculation of improved Astar algorithm is reduced and the planned path can avoid the threats well.